Robotics, Vision & Control

The practice of robotics and computer vision each involve the
application of computational algorithms to data. The research community
has developed a very large body of algorithms but for a newcomer to the
field this can be quite daunting. For more than 10 years the author has
maintained two open-source MATLAB® Toolboxes, one for robotics and one
for vision. They provide implementations of many important algorithms
and allow users to work with real problems, not just trivial examples.

This new book makes the fundamental algorithms of robotics, vision and
control accessible to all. It weaves together theory, algorithms and
examples in a narrative that covers robotics and computer vision
separately and together. Using the latest versions of the Toolboxes the
author shows how complex problems can be decomposed and solved using
just a few simple lines of code. The topics covered are guided by real
problems observed by the author over many years as a practitioner of
both robotics and computer vision. It is written in a light but
informative style, it is easy to read and absorb, and includes over 1000
MATLAB® and Simulink® examples and figures. The book is a real walk
through the fundamentals of mobile robots, navigation, localization,
arm-robot kinematics, dynamics and joint level control, then camera
models, image processing, feature extraction and multi-view geometry,
and finally bringing it all together with an extensive discussion of
visual servo systems.